using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;

using System.Runtime.InteropServices;
using ORiN2.interop.CAO;

namespace Project
{
    public partial class Form1 : Form
    {
        private CaoEngine caoEng;
        private CaoWorkspaces caoWss;
        private CaoWorkspace caoWs;
        
        // Robot objects
        private CaoController caoCtrl;  // Robot Controller
        // Task objects
        private CaoTask caoTask;
        // Task variable
        private CaoVariable caoTaskST;
   
        public Form1()
        {
            InitializeComponent();
        }

        //-----------------------------Initialization----------------------------
        private void cmdInit_Click(object sender, EventArgs e)
        {
            //CreateEngine
            caoEng = new CaoEngine();
            caoWss = caoEng.Workspaces;
            caoWs = caoWss.Item(0);

            cmdInit.Enabled = false;
            cmdConnectRobot.Enabled = true;
        }

        // ---------------------------------------------------------------
        // Connect with the Robot
        // ---------------------------------------------------------------
        private void cmdConnectRobot_Click(object sender, EventArgs e)
        {
            try
            {
                // Create object and connect with RC8 controller
                caoCtrl = caoWs.AddController("Robot", "CaoProv.DENSO.RC8", "", "Server=192.168.0.1");
                // Task control with RC8 controller
                caoTask = caoCtrl.AddTask("Pro1","");
                // Task class system variable
                caoTaskST = caoTask.AddVariable("@STATUS","");

                // Enable command buttons
                cmdConnectRobot.Enabled = false;
                cmdDisconnectRobot.Enabled = true;
                cmdTaskStart.Enabled = true;
                cmdTaskStop.Enabled = true;
            }
            catch (Exception ex)
            {
                cmdDisconnectRobot_Click(sender, e);
                MessageBox.Show(ex.Message.ToString());
            }
        }
        
        // ---------------------------------------------------------------
        // disconnect from the Robot
        // ---------------------------------------------------------------
        private void cmdDisconnectRobot_Click(object sender, EventArgs e)
        {
            // Disconnect from the Task Variable
            if (caoTaskST != null)
            {
                if (caoTask != null)
                {
                    caoTask.Variables.Remove(caoTaskST.Name);
                }
                Marshal.ReleaseComObject(caoTaskST);
                caoTaskST = null;
            }

            // Disconnect from the Task
            if(caoTask != null)
            {
                if (caoCtrl != null)
                {
                    caoCtrl.Tasks.Remove(caoTask.Name);
                }
                Marshal.ReleaseComObject(caoTask);
                caoTask = null;
            }
            

            // Disconnect from the controller
            if (caoCtrl != null)
            {
                if (caoWs != null)
                {
                    caoWs.Controllers.Remove(caoCtrl.Name);
                }
                Marshal.ReleaseComObject(caoCtrl);
                caoCtrl = null;
            }

            // Disable command buttons
            cmdConnectRobot.Enabled = true;
            cmdDisconnectRobot.Enabled = false;
            cmdTaskStart.Enabled = false;
            cmdTaskStop.Enabled = false;
        }

        private void cmdTaskStart_Click(object sender, EventArgs e)
        {
            try
            {
                // caoTaskST [0:Task not yet generated (NON_EXISTENT), 1:Hold-stopped, 2:Stopped, 3:Running, 4:Step-stopped]
                if(Int32.Parse(caoTaskST.Value.ToString()) != 3)
                {
                    // Start [1:One cycle execution, 2:Continuous execution, 3:Step forward]
                    caoTask.Start(2,"");
                }
            }
            catch (Exception ex)
            {                
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdTaskStop_Click(object sender, EventArgs e)
        {
            try
            {
                // caoTaskST [0:Task not yet generated (NON_EXISTENT), 1:Hold-stopped, 2:Stopped, 3:Running, 4:Step-stopped]
                if (Int32.Parse(caoTaskST.Value.ToString()) == 3)
                {
                    // Stop [0:Default stop, 1:Instant stop, 2:Step stop, 3:Cycle stop, 4:Initialized stop]
                    caoTask.Stop(4,"");
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }
        
  
        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            cmdDisconnectRobot_Click(sender, e);

            // Delete CaoEngine
            if (caoWs != null)
            {                
                Marshal.ReleaseComObject(caoWs);
                caoWs = null;
            }

            if (caoWss != null)
            {                
                Marshal.ReleaseComObject(caoWss);
                caoWss = null;
            }

            if (caoEng != null)
            {               
                Marshal.ReleaseComObject(caoEng);
                caoEng = null;
            }
        }




    }
}